Abstract This paper presents the stability and rnbustncss analysis for fiizzy control system subject to paramctcr uncertainties, and the design of gains for thc fuzzy controller. Based on Lyapunov stability theory, stnbility nnd robustness conditions will be derived. The stability conditions involves only p+l linear matrix inequalities, where p i s the numbcr of rulcs of thc fuzzy controller. A...

This paper proposes a confluence between soft OR and soft computing methods, by means of an application of fuzzy logic ideas to robustness analysis. Both methods try to add flexibility to proposed solutions of real world problems, although insofar as their application contexts are concerned, they have been quite apart. So it is only natural to bring them together in what could be called a "fuzz...

In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...